Alber E-motion M12 Battery Installation

There is a grey label which is fixed to battery pack, on it. If you push it up, there are screws.They need soldering for serial connection.

Android Bluetooth Connection To HC-05

Sending Data to HC-05

 package com.example.a6dofbt;  
 import android.app.Activity;  
 import android.app.ProgressDialog;  
 import android.bluetooth.BluetoothAdapter;  
 import android.bluetooth.BluetoothDevice;  
 import android.bluetooth.BluetoothSocket;  
 import android.content.Intent;  
 import android.os.AsyncTask;  
 import android.os.Bundle;  
 import android.util.Log;  
 import android.view.View;  
 import android.widget.Button;  
 import android.widget.EditText;  
 import android.widget.SeekBar;  
 import android.widget.SeekBar.OnSeekBarChangeListener;  
 import android.widget.TextView;  
 import android.widget.Toast;  
 import java.io.IOException;  
 import java.io.OutputStream;  
 import java.util.UUID;  
 public class dof extends Activity {  
   private OutputStream outStream = null;  
   private BluetoothDevice device;  
   private TextView title;  
   private SeekBar clamp ;  
   private SeekBar base;  
   private SeekBar leg;  
   private SeekBar waist;  
   private SeekBar head;  
   private SeekBar chest;  
   private EditText motorno;  
   private Button add;  
   private Button subtract;  
   private static final UUID MY_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");  
   private static String address = "00:00:00:00:00:00";  
   private BluetoothAdapter btAdapter = null;  
   private BluetoothSocket btSocket = null;  
   private static final int REQUEST_ENABLE_BT = 1;  
   private boolean isBtConnected = false;  
   private ProgressDialog dialog;  
   @Override  
   protected void onCreate(Bundle savedInstanceState) {  
     super.onCreate(savedInstanceState);  
     setContentView(R.layout.dof);  
     MotorBar clamp = new MotorBar(0,200, "Clamp");  
     MotorBar head = new MotorBar(1,200, "Head");  
     MotorBar chest = new MotorBar(2,200, "Chest");  
     MotorBar waist = new MotorBar(3,200, "Waist");  
     MotorBar leg = new MotorBar(4,200, "Leg");  
     MotorBar base = new MotorBar(5,200, "Base");  
     clamp.bar = (SeekBar) findViewById(R.id.seekBarOne);  
     head.bar = (SeekBar) findViewById(R.id.seekBarTwo);  
     chest.bar = (SeekBar) findViewById(R.id.seekBarThree);  
     waist.bar = (SeekBar) findViewById(R.id.seekBarFour);  
     leg.bar = (SeekBar) findViewById(R.id.seekBarFive);  
     base.bar = (SeekBar) findViewById(R.id.seekBarSix);  
     clamp.text = (TextView) findViewById(R.id.textOne);  
     head.text = (TextView) findViewById(R.id.textTwo);  
     chest.text = (TextView) findViewById(R.id.textThree);  
     waist.text = (TextView) findViewById(R.id.textFour);  
     leg.text = (TextView) findViewById(R.id.textFive);  
     base.text = (TextView) findViewById(R.id.textSix);  
     title = (TextView) findViewById(R.id.title);  
     try {  
       Bundle b = this.getIntent().getExtras();  
       address = (String) b.get("address");  
       title.setText(address);  
       /*  
       btAdapter = BluetoothAdapter.getDefaultAdapter();  
       device = btAdapter.getRemoteDevice(address);  
       btSocket = device.createInsecureRfcommSocketToServiceRecord(MY_UUID);  
       BluetoothAdapter.getDefaultAdapter().cancelDiscovery();  
       btSocket.connect();  
       outStream = btSocket.getOutputStream();  
       outStream.write("w".getBytes());  
       */  
       new BTbaglan().execute();  
     } catch(Exception e) {  
       errorExit("Error", e.getLocalizedMessage());  
     }  
     //checkBTState();  
     add = (Button) findViewById(R.id.add);  
     subtract = (Button) findViewById(R.id.subtract);  
     motorno = (EditText) findViewById(R.id.motorno);  
     motorno.setText("0");  
     add.setOnClickListener(new View.OnClickListener() {  
       @Override  
       public void onClick(View v) {  
         try {  
           String mno = String.valueOf(motorno.getText());  
           outStream.write(mno.getBytes());  
           outStream.flush();  
           Thread.sleep(30);  
           outStream.write("w".getBytes());  
           outStream.flush();  
         } catch(Exception e) {  
           errorExit("Final Error", "no write on stream "+e.getLocalizedMessage());  
         }  
       }  
     });  
     subtract.setOnClickListener(new View.OnClickListener() {  
       @Override  
       public void onClick(View v) {  
         try {  
           String mno = String.valueOf(motorno.getText());  
           outStream.write(mno.getBytes());  
           outStream.flush();  
           Thread.sleep(30);  
           outStream.write("e".getBytes());  
           outStream.flush();  
         } catch(Exception e) {  
           errorExit("Final Error", "no write on stream for button"+e.getLocalizedMessage());  
         }  
       }  
     });  
     int maxV = 500;  
     MotorBar[] motors = {clamp, head, chest, waist, leg, base};  
     for(int i=0; i < motors.length; i++) {  
       final MotorBar m = motors[i];  
       m.bar.setMax(maxV);  
       m.bar.setProgress(motors[i].value);  
       m.bar.setOnSeekBarChangeListener(new OnSeekBarChangeListener() {  
         int progressValue = 0;  
         public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {  
           progressValue = progress;  
         }  
         @Override  
         public void onStartTrackingTouch(SeekBar seekBar) { }  
         @Override  
         public void onStopTrackingTouch(SeekBar seekBar) {  
           seekBar.setProgress(progressValue);  
           m.value = progressValue + 50;  
           m.text.setText(m.name +": "+String.valueOf(m.value));  
           try {  
             String mno = String.valueOf(m.no);  
             outStream.write(mno.getBytes());  
             outStream.flush();  
             Thread.sleep(500);  
             String mv = String.valueOf(m.value);  
             outStream.write(mv.getBytes());  
             outStream.flush();  
           } catch(Exception e) {  
             errorExit("Fatal Error", "no write on stream for bar "+e.getLocalizedMessage());  
           }  
         }  
       });  
     }  
   }  
   private void errorExit(String title, String message){  
     Toast msg = Toast.makeText(getBaseContext(),  
         title + " - " + message, Toast.LENGTH_SHORT);  
     msg.show();  
     finish();  
   }  
 /*  
   @Override  
   public void onPause() {  
     super.onPause();  
     if (outStream != null) {  
       try {  
         outStream.flush();  
       } catch (IOException e) {  
         errorExit("Fatal Error", "In onPause() and failed to flush output stream: " + e.getMessage() + ".");  
       }  
     }  
     try   {  
       btSocket.close();  
     } catch (IOException e2) {  
       errorExit("Fatal Error", "In onPause() and failed to close socket." + e2.getMessage() + ".");  
     }  
   }  
   private void checkBTState() {  
     if(btAdapter==null) {  
       errorExit("Fatal Error", "Bluetooth Not supported. Aborting.");  
     } else {  
       if (!btAdapter.isEnabled()) {  
         //Prompt user to turn on Bluetooth  
         Intent enableBtIntent = new Intent(btAdapter.ACTION_REQUEST_ENABLE);  
         startActivityForResult(enableBtIntent, REQUEST_ENABLE_BT);  
       }  
     }  
   }  
   @Override  
   public void onBackPressed() {  
     super.onBackPressed();  
     Disconnect();  
   }  
   private void Disconnect() {  
     if(btSocket != null) {  
       try{  
         btSocket.close();  
       } catch (Exception e) {  
       }  
     }  
     finish();  
   }  
   @Override  
   public void onResume() {  
     super.onResume();  
     try {  
       btSocket = device.createRfcommSocketToServiceRecord(MY_UUID);  
     } catch (IOException e) {  
       errorExit("Fatal Error", "In onResume() and socket create failed: " + e.getMessage() + ".");  
     }  
     btAdapter.cancelDiscovery();  
     try {  
       btSocket.connect();  
     } catch (IOException e) {  
       try {  
         btSocket.close();  
       } catch (IOException e2) {  
         errorExit("Fatal Error", "In onResume() and unable to close socket during connection failure" + e2.getMessage() + ".");  
       }  
     }  
     try {  
       outStream = btSocket.getOutputStream();  
     } catch (IOException e) {  
       errorExit("Fatal Error", "In onResume() and output stream creation failed:" + e.getMessage() + ".");  
     }  
   }  
   private void setMotor(MotorBar motor) {  
     String no = String.valueOf(motor.no);  
     String v = String.valueOf(motor.value);  
     sendData(no);  
     try {  
       Thread.sleep(20);  
     } catch (InterruptedException e) {  
       e.printStackTrace();  
     }  
     sendData(v);  
   }  
   private void sendData(String message) {  
     byte[] msgBuffer = message.getBytes();  
     try {  
       if(!btSocket.isConnected()) {  
         btSocket = device.createInsecureRfcommSocketToServiceRecord(MY_UUID);  
         BluetoothAdapter.getDefaultAdapter().cancelDiscovery();  
         btSocket.connect();  
       }  
       outStream.write(msgBuffer);  
     } catch (IOException e) {  
       String msg = "Sending data failed" + e.getMessage();  
       errorExit("Fatal error", msg);  
     }  
   }  
   @Override  
   protected void onDestroy() {  
     super.onDestroy();  
   }  
 */  
   public class BTbaglan extends AsyncTask<Void, Void, Void> {  
     private boolean ConnectSuccess = true;  
     @Override  
     protected void onPreExecute() {  
       super.onPreExecute();  
       try {  
         dialog = ProgressDialog.show(dof.this, "Baglanıyor...", "Lütfen Bekleyin");  
       } catch(Exception e) {  
         errorExit2("Fatal error", e.getLocalizedMessage());  
       }  
     }  
     @Override  
     protected Void doInBackground(Void... devices) {  
       try {  
         if (btSocket == null || !isBtConnected) {  
           btAdapter = BluetoothAdapter.getDefaultAdapter();  
           BluetoothDevice device = btAdapter.getRemoteDevice(address);  
           btSocket = device.createInsecureRfcommSocketToServiceRecord(MY_UUID);  
           BluetoothAdapter.getDefaultAdapter().cancelDiscovery();  
           btSocket.connect();  
           outStream = btSocket.getOutputStream();  
         }  
       } catch (IOException e) {  
         ConnectSuccess = false;  
       } catch(Exception e) {  
         errorExit2("Fatal error", e.getLocalizedMessage());  
       }  
       return null;  
     }  
     @Override  
     protected void onPostExecute(Void result) {  
       super.onPostExecute(result);  
       if (!ConnectSuccess) {  
         // msg("Baglantı Hatası, Lütfen Tekrar Deneyin");  
         Toast.makeText(getApplicationContext(), "Bağlantı Hatası Tekrar Deneyin", Toast.LENGTH_SHORT).show();  
         finish();  
       } else {  
         //  msg("Baglantı Basarılı");  
         Toast.makeText(getApplicationContext(), "Bağlantı Başarılı", Toast.LENGTH_SHORT).show();  
         isBtConnected = true;  
       }  
       dialog.dismiss();  
     }  
     private void errorExit2(String title, String message){  
       Toast msg = Toast.makeText(getBaseContext(),  
           title + " - " + message, Toast.LENGTH_SHORT);  
       msg.show();  
     }  
   }  
 }  

HC-05 python connection

       

import bluetooth

print "Searching for devices..."
print ""
nearby_devices = bluetooth.discover_devices()
num = 0
print "Select your device by entering its coresponding number..."
for i in nearby_devices:
 num+=1
 print num , ": " , bluetooth.lookup_name( i )

selection = input("> ") - 1
print "You have selected", bluetooth.lookup_name(nearby_devices[selection])
bd_addr = nearby_devices[selection]
port = 1
sock = bluetooth.BluetoothSocket( bluetooth.RFCOMM )
sock.connect((bd_addr, port))
print "Everything is OK, Start to write"
while 1:
 data = raw_input()
 if len(data) == 0: break
 sock.send(data)
sock.close()

Bluetooth 4.0 Arduino At-09

       


include 
SoftwareSerial mySerial(2, 3); // RX, TX
int PIN_EN_OUT = 4;
int PIN_STATE_IN = 5;


void setup() {
  // put your setup code here, to run once:
  mySerial.begin(9600);
  Serial.begin(9600);
  Serial.println("start at 09 bt");

  sendCommand("AT");
  sendCommand("AT+ROLE0");
  sendCommand("AT+UUID0xFFE0");
  sendCommand("AT+CHAR0xFFE1");
  sendCommand("AT+NAMESeloBT");
  sendCommand("AT+PIN123456");
}

void sendCommand(const char * command){
  Serial.print("Command send :");
  Serial.println(command);
  mySerial.println(command);
  //wait some time
  delay(100);
  
  char reply[100];
  int i = 0;
  while (mySerial.available()) {
    reply[i] = mySerial.read();
    i += 1;
  }
  //end the string
  reply[i] = '\0';
  Serial.print(reply);
  Serial.println("Reply end");
}

void readSerial(){
  char reply[50];
  int i = 0;
  while (mySerial.available()) {
    reply[i] = mySerial.read();
    i += 1;
  }
  //end the string
  reply[i] = '\0';
  if(strlen(reply) > 0){
    Serial.println(reply);
    Serial.println("We have just read some data");
  }
}

void loop() {
  readSerial();
  delay(500);
}

Solenoid valve for Urine bag

Etac Cross 5 and Alber E-Motion M12 Bracket

My Solution
Download Alber M12 user guide
https://drive.google.com/open?id=1I0sWR_9vtMqcL8J0MUaEfms2IAzNnHtl
Spare parts
https://drive.google.com/open?id=1-9YXah7lEwhhQKlQoKgk5Wi0oT-G9M5a

Bash Ping Test

       


#!/bin/bash
A=""
for i in {1..30}
do 
 ping -q -c1 192.168.1.$i
 if [ $? -eq 0 ]
 then
  A+="Ok 192.168.1.$i\n"
 else
  A+="No 192.168.1.$i\n"
 fi
done
echo -e "$A"